Abstract
The remote operations of various fields have a benefit effect on a unified hand/arm master-slave system. We made master-slave system like scissors which is separated. We adapted the parallel control method to the master-slave bilateral control system. The experimental results showed that the position is satisfactorily controlled by PD control with pole assignment techniques but is not satisfactorily controlled by PID control. The force reflection is also satisfied controlled by the parallel control method.
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